/*
 * @Author: junhuizhou
 * @Date: 2021-01-09 10:31:41
 * @LastEditor: junhuizhou
 * @LastEditTime: 2021-01-09 16:48:42
 * @Description: header
 * @FilePath: \fzhtq\include\ctllaw.h
 */

#ifndef CTLLAW_H_
#define CTLLAW_H_

/**
 * @description: 控制律
 * @algorithm: 基于四元数
 * @param {double} theta0
 * @param {double} omega0
 * @param {double} theta1
 * @param {double} Tq
 * @return {*}
 */
void CalTqByQuat(double theta0[3], double omega0[3], double theta1[3], double Tq[3]);

int Sign(double x);

#endif
